ceres-solver/internal/ceres/gradient_problem_evaluator.h

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2013 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#ifndef CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
#define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_

#include <map>
#include <string>

#include "ceres/evaluator.h"
#include "ceres/execution_summary.h"
#include "ceres/gradient_problem.h"
#include "ceres/internal/port.h"
#include "ceres/wall_time.h"

namespace ceres {
namespace internal {

class GradientProblemEvaluator : public Evaluator {
 public:
  explicit GradientProblemEvaluator(const GradientProblem& problem)
      : problem_(problem) {}
  virtual ~GradientProblemEvaluator() {}
  virtual SparseMatrix* CreateJacobian() const { return NULL; }
  virtual bool Evaluate(const EvaluateOptions& evaluate_options,
                        const double* state,
                        double* cost,
                        double* residuals,
                        double* gradient,
                        SparseMatrix* jacobian) {
    CHECK(jacobian == NULL);
    ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
    ScopedExecutionTimer call_type_timer(
        gradient == NULL ? "Evaluator::Cost" : "Evaluator::Gradient",
        &execution_summary_);
    return problem_.Evaluate(state, cost, gradient);
  }

  virtual bool Plus(const double* state,
                    const double* delta,
                    double* state_plus_delta) const {
    return problem_.Plus(state, delta, state_plus_delta);
  }

  virtual int NumParameters() const {
    return problem_.NumParameters();
  }

  virtual int NumEffectiveParameters()  const {
    return problem_.NumLocalParameters();
  }

  virtual int NumResiduals() const { return 1; }

  virtual std::map<string, int> CallStatistics() const {
    return execution_summary_.calls();
  }

  virtual std::map<string, double> TimeStatistics() const {
    return execution_summary_.times();
  }

 private:
  const GradientProblem& problem_;
  ::ceres::internal::ExecutionSummary execution_summary_;
};

}  // namespace internal
}  // namespace ceres

#endif  // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_